ROS noetic camera install

#Intel Realsense  install

https://github.com/IntelRealSense/realsense-ros

sip2@sip2-2021:~$ sudo apt-get install ros-noetic-realsense2-camera

reboot

sip2@sip2-2021:~$ roslaunch realsense2_camera rs_camera.launch

or

sip2@sip2-2021:~$ roslaunch realsense2_camera rs_camera.launch filters:=pointcloud

# USB camera

https://ma38su.hatenablog.com/entry/2021/06/23/121926

https://qiita.com/Yuya-Shimizu/items/10804c9ac44a3568d116

 

 

ERROR: cannot launch node of type [usb_cam/usb_cam_node]: usb_cam
ROS path [0]=/opt/ros/noetic/share/ros
ROS path [1]=/home/sip2/catkin_narobot/src
ROS path [2]=/opt/ros/noetic/share

sip2@sip2-2021:~/catkin_narobot$ sudo apt install ros-noetic-libuvc-camera ros-noetic-camera-calibration ros-noetic-image-proc

sip2@sip2-2021:~/catkin_narobot$ sudo apt install ros-noetic-usb-cam

sip2@sip2-2021:~/catkin_narobot$ sudo apt install ros-noetic-image-view

 

sip2@sip2-2021:~/catkin_narobot$ v4l2-ctl --list-devices

Command 'v4l2-ctl' not found, but can be installed with:

sudo apt install v4l-utils

sip2@sip2-2021:~/catkin_narobot$ sudo apt install v4l-utils

sip2@sip2-2021:~/catkin_narobot$ v4l2-ctl --list-devices
HD Webcam: HD Webcam (usb-0000:00:14.0-13):
    /dev/video0
    /dev/video1
    /dev/video2
    /dev/video3

sip2@sip2-2021:~/catkin_narobot$ v4l2-ctl --list-formats-ext
ioctl: VIDIOC_ENUM_FMT
    Type: Video Capture

    [0]: 'MJPG' (Motion-JPEG, compressed)
        Size: Discrete 1280x720
            Interval: Discrete 0.033s (30.000 fps)
        Size: Discrete 640x480
            Interval: Discrete 0.033s (30.000 fps)
        Size: Discrete 640x360
            Interval: Discrete 0.033s (30.000 fps)
        Size: Discrete 352x288
            Interval: Discrete 0.033s (30.000 fps)
        Size: Discrete 320x240
            Interval: Discrete 0.033s (30.000 fps)
        Size: Discrete 176x144
            Interval: Discrete 0.033s (30.000 fps)
    [1]: 'YUYV' (YUYV 4:2:2)
        Size: Discrete 640x480
            Interval: Discrete 0.033s (30.000 fps)
        Size: Discrete 640x360
            Interval: Discrete 0.033s (30.000 fps)
        Size: Discrete 352x288
            Interval: Discrete 0.033s (30.000 fps)
        Size: Discrete 320x240
            Interval: Discrete 0.033s (30.000 fps)
        Size: Discrete 176x144
            Interval: Discrete 0.033s (30.000 fps)

sip2@sip2-2021:~/catkin_narobot$ lsusb
Bus 004 Device 003: ID 0bda:0316 Realtek Semiconductor Corp. USB3.0-CRW
Bus 004 Device 002: ID 0bda:0411 Realtek Semiconductor Corp. 4-Port USB 3.0 Hub
Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 003 Device 006: ID 8087:0026 Intel Corp.
Bus 003 Device 005: ID 04f2:b71a Chicony Electronics Co., Ltd HD Webcam
Bus 003 Device 003: ID 048d:6004 Integrated Technology Express, Inc. ITE Device(8291)
Bus 003 Device 004: ID 046d:c542 Logitech, Inc. 4-Port USB 2.0 Hub
Bus 003 Device 002: ID 0bda:5411 Realtek Semiconductor Corp. 4-Port USB 2.0 Hub
Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

sip2@sip2-2021:~/catkin_narobot$ ls /dev/video*
/dev/video0  /dev/video1  /dev/video2  /dev/video3

reference

https://qiita.com/Yuya-Shimizu/items/10804c9ac44a3568d116

<launch>

<!-- usb_acmノードを実行する -->

<node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen">

<!-- カメラの指定　defaultは/dev/video0 -->

<param name="video_device" value="/dev/video0"/>

<!-- 画像の大きさ（横幅）の指定 -->

<param name="image_width" value="640"/>

<!-- 画像の大きさ（縦幅）の指定 -->

<param name="image_height" value="480"/>

<!-- 画像フォーマット設定　"mjpeg" or "yuyv" or "uyvy" -->

<param name="pixel_format" value="mjpeg"/>

<!-- fpsの指定　frame per second -->

<param name="framerate" value="30"/>

<!-- コントラストの設定（色設１） -->

<param name="contrast" value="32"/>

<!-- 明るさの設定（色設２） -->

<param name="brightness" value="32"/>

<!-- 彩度の設定（色設３） -->

<param name="saturation" value="32"/>

<!-- 自動フォーカス機能の設定　ブール値 -->

<param name="autofocus" value="true"/>

<!-- フォーカス位置の設定 -->

<param name="focus" value="51"/>

</node>

<!-- image_viewノードを実行する -->

<node name="image_view" pkg="image_view" type="image_view" respawn="false" output="screen">

<!-- image_viewのimageトピックがimage_rawトピックをサブスクライブするように指定 -->

<remap from="image" to="/usb_cam/image_raw"/>

<!-- 画像の縦横比を自動で判定して表示 ブール値 -->

<param name="autosize" value="true"/>

</node>

</launch>

#FLIR thermal camera install

sip2@sip2-2021:~$mkdir -p ~/catkin_flir/src sip2@sip2-2021:~$ cd catkin_flir/
sip2@sip2-2021:~/catkin_flir$cd src/ sip2@sip2-2021:~/catkin_flir/src$ git clone https://github.com/astuff/flir_boson_usb.git
Cloning into 'flir_boson_usb'...
remote: Enumerating objects: 257, done.
remote: Counting objects: 100% (39/39), done.
remote: Compressing objects: 100% (8/8), done.
remote: Total 257 (delta 33), reused 31 (delta 31), pack-reused 218
Receiving objects: 100% (257/257), 44.95 KiB | 7.49 MiB/s, done.
Resolving deltas: 100% (121/121), done.
sip2@sip2-2021:~/catkin_flir/src$cd .. sip2@sip2-2021:~/catkin_flir$ catkin_make
Base path: /home/sip2/catkin_flir
Source space: /home/sip2/catkin_flir/src
Build space: /home/sip2/catkin_flir/build
Devel space: /home/sip2/catkin_flir/devel
Install space: /home/sip2/catkin_flir/install
Creating symlink "/home/sip2/catkin_flir/src/CMakeLists.txt" pointing to "/opt/ros/noetic/share/catkin/cmake/toplevel.cmake"
####
#### Running command: "cmake /home/sip2/catkin_flir/src -DCATKIN_DEVEL_PREFIX=/home/sip2/catkin_flir/devel -DCMAKE_INSTALL_PREFIX=/home/sip2/catkin_flir/install -G Unix Makefiles" in "/home/sip2/catkin_flir/build"
####
-- The C compiler identification is GNU 9.4.0
-- The CXX compiler identification is GNU 9.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/sip2/catkin_flir/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/noetic
-- This workspace overlays: /opt/ros/noetic
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3")
-- Using PYTHON_EXECUTABLE: /usr/bin/python3
-- Using Debian Python package layout
-- Found PY_em: /usr/lib/python3/dist-packages/em.py  
-- Using empy: /usr/lib/python3/dist-packages/em.py
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/sip2/catkin_flir/build/test_results
-- Forcing gtest/gmock from source, though one was otherwise available.
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python3 (found version "3.8.10")
-- Found Threads: TRUE  
-- Using Python nosetests: /usr/bin/nosetests3
-- catkin 0.8.10
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 1 packages in topological order:
-- ~~  - flir_boson_usb
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'flir_boson_usb'
-- ==> add_subdirectory(flir_boson_usb)
-- Found OpenCV: /usr (found version "4.2.0")
-- Configuring done
-- Generating done
-- Build files have been written to: /home/sip2/catkin_flir/build
####
#### Running command: "make -j16 -l16" in "/home/sip2/catkin_flir/build"
####
Scanning dependencies of target geometry_msgs_generate_messages_cpp
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Scanning dependencies of target BosonCamera
Scanning dependencies of target flir_boson_usb_node
[ 25%] Building CXX object flir_boson_usb/CMakeFiles/flir_boson_usb_node.dir/src/flir_boson_usb_node.cpp.o
[ 50%] Building CXX object flir_boson_usb/CMakeFiles/BosonCamera.dir/src/nodelets/BosonCamera.cpp.o
[ 75%] Linking CXX executable /home/sip2/catkin_flir/devel/lib/flir_boson_usb/flir_boson_usb_node
[ 75%] Built target flir_boson_usb_node
[100%] Linking CXX shared library /home/sip2/catkin_flir/devel/lib/libBosonCamera.so
[100%] Built target BosonCamera

sip2@sip2-2021:~/catkin_flir$ v4l2-ctl --list-devices
HD Webcam: HD Webcam (usb-0000:00:14.0-13):
    /dev/video0
    /dev/video1
    /dev/video2
    /dev/video3

Boson: FLIR Video (usb-0000:00:14.0-4):
    /dev/video4
    /dev/video5

flir_boson_usb/launch/flir_boson_usb.launch

<?xml version="1.0"?>

<launch>

<arg name="namespace" default="flir_boson"/>

<arg name="frame_id" default="boson_camera"/>

<!-- the linux file descriptor location for the camera -->

<arg name="dev" default="/dev/video4"/>

<!-- valid values are 30.0 or 60.0 for Bosons -->

<arg name="frame_rate" default="30.0"/>

<!-- valid values are RAW16 or YUV -->

<arg name="video_mode" default="YUV"/>

<!-- valid values are TRUE or FALSE -->

<arg name="zoom_enable" default="FALSE"/>

<!-- valid values are Boson_320 or Boson_640 -->

<arg name="sensor_type" default="Boson_640"/>

<!-- location of the camera calibration file -->

<arg name="camera_info_url" default="package://flir_boson_usb/example_calibrations/Boson640.yaml"/>

<node pkg="flir_boson_usb" type="flir_boson_usb_node" name="flir_boson_usb_node" ns="$(arg namespace)">

<param name="frame_id" type="str" value="$(arg frame_id)"/>

<param name="dev" type="str" value="$(arg dev)"/>

<param name="frame_rate" type="double" value="$(arg frame_rate)"/>

<param name="video_mode" type="str" value="$(arg video_mode)"/>

<param name="zoom_enable" type="bool" value="$(arg zoom_enable)"/>

<param name="sensor_type" type="str" value="$(arg sensor_type)"/>

<param name="camera_info_url" type="str" value="$(arg camera_info_url)"/>

</node>

</launch>

sip2@sip2-2021:~/catkin_flir$source devel/setup.bash sip2@sip2-2021:~/catkin_flir$ roslaunch flir_boson_usb flir_boson.launch